/PROG  TL1_PICK
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 PICK";
PROG_SIZE	= 1276;
CREATE		= DATE 12-04-21  TIME 11:00:00;
MODIFIED	= DATE 25-01-25  TIME 14:58:46;
FILE_NAME	= TL1_DROP;
VERSION		= 0;
LINE_COUNT	= 27;
MEMORY_SIZE	= 1672;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[25:TOOL #1]=ON    ;
   6:J P[1:CLEAR] 70% CNT50    ;
   7:L P[2:APPROACH] 600mm/sec CNT50 ACC70    ;
   8:  WAIT DI[25:TOOL #1]=ON    ;
   9:L P[3:APPROACH] 300mm/sec CNT50    ;
  10:L P[4:APPROACH] 300mm/sec FINE    ;
  11:  DO[13:REQ ATC CHUCK]=OFF ;
  12:  DO[14:REQ ATC UNCHUCK]=ON ;
  13:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  14:  WAIT    .50(sec) ;
  15:L P[5:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=ON    ;
  16:  WAIT   1.00(sec) ;
  17:  DO[20:TOOL1 POS]=ON ;
  18:  DO[14:REQ ATC UNCHUCK]=OFF ;
  19:  DO[13:REQ ATC CHUCK]=ON ;
  20:  WAIT DI[13:ATC CHUCK OK]=ON    ;
  21:  WAIT   1.00(sec) ;
  22:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=OFF    ;
  23:L P[7:APPROACH] 300mm/sec CNT50    ;
  24:L P[8:APPROACH] 300mm/sec CNT50    ;
  25:L P[1:CLEAR] 600mm/sec CNT50 ACC70    ;
  26:   ;
  27:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.000  mm,	Y =   793.155  mm,	Z =  -527.000  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =    90.253 deg,
	E1=    16.000 deg
};
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.000  mm,	Y =   787.680  mm,	Z = -1045.378  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =    90.000 deg,
	E1=    15.815 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.746  mm,	Y =   726.160  mm,	Z = -1168.775  mm,
	W =  -161.681 deg,	P =    88.437 deg,	R =   106.732 deg,
	E1=    16.255 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3203.304  mm,	Y =   654.338  mm,	Z = -1445.003  mm,
	W =  -161.554 deg,	P =    88.431 deg,	R =   106.852 deg,
	E1=    16.254 deg
};
P[5:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3200.700  mm,	Y =   521.138  mm,	Z = -1446.550  mm,
	W =  -160.890 deg,	P =    88.260 deg,	R =   107.497 deg,
	E1=    16.257 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3200.000  mm,	Y =   521.000  mm,	Z = -1370.659  mm,
	W =  -161.682 deg,	P =    88.437 deg,	R =   106.731 deg,
	E1=    16.255 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.747  mm,	Y =   643.379  mm,	Z = -1370.658  mm,
	W =  -161.683 deg,	P =    88.437 deg,	R =   106.730 deg,
	E1=    16.255 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.000  mm,	Y =   787.680  mm,	Z = -1045.378  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =    90.000 deg,
	E1=    15.815 deg
};
/END
